20kg.cm Bus Servo Motor, 106PRM High Speed, Large Torque, With 360 Degrees High Precision Magnetic Encoder

A high-performance 20kg·cm bus servo motor (model ST3215-HS) with 360-degree high-precision magnetic encoder and UART serial bus control. It supports both servo mode (precise angle control) and motor mode (continuous rotation), making it versatile for robotics applications from robotic arms to wheeled platforms.

The UART bus interface allows daisy-chaining up to 253 servo motors on a single channel, with real-time two-way feedback for position, load, speed, and input voltage. The 12-bit magnetic encoder provides 4× the resolution of traditional potentiometer-based servos with no mechanical wear.

Key Features

• 20kg·cm Torque at 12V – High torque for demanding robotics applications
• 106 RPM High Speed – Fast response for dynamic movements
• 360° Magnetic Encoder – 12-bit precision with no contact wear
• UART Serial Bus Control – Daisy-chain up to 253 servos
• Dual Mode – Servo mode (angle control) and motor mode (continuous rotation)
• Two-Way Feedback – Real-time position, load, speed, and voltage data
• Acceleration Control – Settable speed and acceleration for smooth motion
• One-Button Middle Position Calibration – Set any position as centre point

Specifications

• Model: ST3215-HS
• Torque: 20kg·cm (at 12V)
• Speed: 106 RPM
• Encoder: 12-bit magnetic, 360°
• Control Interface: UART serial bus
• Modes: Servo (angle) / Motor (continuous)
• Gears: High-precision copper and steel
• Case: Nylon and fibreglass composite
• Servo Wheels: T6061 aluminium alloy
• Design: Dual-shaft, low-profile, compact

Ideal For

• Quadruped robots and hexapod walkers
• Robotic arms and multi-joint assemblies
• Wheeled robots requiring closed-loop speed control
• 3D printers and CNC projects

Package Contents

• 1× ST3215-HS Bus Servo Motor

Resources

• Waveshare Wiki – ST3215-HS Servo Motor